23 #ifndef _PLUGINS_COLLI_ACT_THREAD_H_
24 #define _PLUGINS_COLLI_ACT_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/tf.h>
31 #include <core/threading/thread.h>
32 #include <interfaces/NavigatorInterface.h>
41 class NavigatorInterface;
66 ros::Subscriber *sub_;
68 std::string cfg_iface_navi_;
70 std::string cfg_frame_odom_;
73 float cfg_security_distance_;
74 float cfg_max_velocity_;
75 float cfg_max_rotation_;
76 float cfg_escaping_enabled_;
77 bool cfg_stop_at_target_;
84 void colli_relgoto(
float x,
float y,
float ori);
85 void colli_goto(
float x,
float y,
float ori);
This thread hooks onto Fawkes main loop at the ACT hook.
virtual void finalize()
Finalize the thread.
ColliActThread(ColliThread *colli_thread)
Constructor.
virtual void init()
Initialize the thread.
virtual ~ColliActThread()
Desctructor.
virtual void loop()
Code to execute in the thread.
Thread that performs the navigation and collision avoidance algorithms.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
NavigatorInterface Fawkes BlackBoard Interface.
DriveMode
Drive modes enum.
OrientationMode
Orientation mode enum.
Thread class encapsulation of pthreads.
Fawkes library namespace.